EP3455008A1

EP3455008A1 - Method for filling a rivet cartridge with rivet elements

Info

Publication number: EP3455008A1
Application number: EP17723376.4A
Authority: EP
Inventors: Christoph Eusterwiemann
Original assignee: Broetje Automation GmbH
Current assignee: Broetje Automation GmbH
Priority date: 2016-05-13
Filing date: 2017-05-12
Publication date: 2019-03-20
Anticipated expiration: 2037-05-12
Also published as: RU2754940C2; US11033951B2; US20190134701A1; WO2017194760A1; EP3455008B1; ES2925944T3; RU2018139925A3; DE102016108874A1; RU2018139925A; CN109414755A; CN109414755B

Abstract

The invention relates to a method for filling a rivet cartridge (2) with rivet elements (3) using a rivet loading station (1) that includes a rivet supply unit (4) for supplying the rivet elements (3) and a rivet cartridge holder (5) for accepting a rivet cartridge (2); in said method, the rivet elements (3) are delivered from the rivet supply unit (4) to a rivet cartridge (2) accommodated in the rivet cartridge holder (5) and are accepted therein in an oriented manner. According to the invention, at least one section of the conveying path from the rivet supply unit (4) to the rivet cartridge (2) is robot-controlled.

Description

Method for filling a rivet cassette with rivet elements

The invention relates to a method for filling a rivet cassette .with rivet elements according to the preamble of claim 1, a method for producing a structural component according to the preamble of claim 14 and a rivet loading station according to claim 15.

From the prior art it is bekamt that rivet elements for. Filling a rivet cassette from. a rivet preparation unit designed as a vibrating spiral conveyor is singled out, its orientation checked and the rivet elements then fed to a rivet cassette. These rivet loading stations must, if different rivet elements are to be fed to a rivet cassette, manually adjusted to each rivet elements to be acted on and their geometry. These manual settings require not inconsiderable set-up time.

The present invention is therefore based on the object to enable a simple and flexible filling of rivet cassettes with rivet elements. The problem is solved in a method according to the preamble of claim 1 by the features of the characterizing part of claim 1.

The fact that the rivet elements are fed from the rivet supply unit to a rivet cassette accommodated in the rivet cassette receptacle and received aligned therewith, whereby at least part of the transport from the rivet supply unit to the rivet cassette is robot-based, enables extremely flexible handling of a wide variety of rivet elements. Preferably, no mechanical adjustments have to be made to the rivet preparation unit in order to adjust it to a specific type of rivet element and / or specific geometries of the rivet elements. The rivet elements can be easily removed from one or more robots from the rivet delivery unit and fed to the rivet cassette. Also rivet elements of different diameters or different lengths can be easily packed by a gripper and fed to the rivet cassette. In the claims 2 to 4 preferred developments of the method are described, showing the flexibility of the method for filling rivet cassettes with a variety of rivet elements. According to claim 5, the rivet elements are separated in the rivet supply unit and preferably fed to a tapping range. This allows a particularly simple recording of the rivet elements by the robot.

In the claims 6 to 1 1, the control or the testing of the riveting elements in particular process steps are described.

Claims 12 and 13 describe a preferred embodiment of the transfer of the rivet element from the robot to the rivet cassette. The object described above is achieved in a method for producing a structural component according to the preamble of claim 14 by the features of the characterizing part of claim 14. This results in the same advantages as described above in connection with the method for filling a rivet cassette.

Finally, the object described above is also achieved by a rivet loading station according to claim 15. There are the same advantages as described above in connection with the methods. The features described in connection with the method apply to the rivet loading station accordingly.

In the following the invention will be explained in more detail with reference to a drawing showing only one exemplary embodiment. 1 shows a schematic representation of a proposed rivet loading station for carrying out a proposal according to the method a) in a side view, b) in a plan view,

2 shows schematically a production device with a rivet storage unit and a drill-riveting tool and Fig. 3 by way of example of a gripper gripped rivet elements.

FIG. 1 shows a rivet loading station 1 according to the present invention for filling a rivet cassette 2 with rivet elements 3. The Nietbeladestation 1 has a Nietbereitstellungseinheit 4 for providing rivet elements 3 and a Nietkassettenaufhahme 5 for receiving a rivet cassette 2. The rivet elements 3 are fed from the rivet preparation unit 4 of a rivet cassette 2 accommodated in the rivet cassette holder 5 and aligned therein, in particular in a positionally secured manner. Here, at least part of the transport from the rivet preparation unit 4 to the rivet cassette 2 is robot-based.

According to a preferred embodiment, at least 50%, preferably at least 80%, more preferably at least 95%, of the transport, in particular of the transport path, of the rivet elements 3 is robot-based from the rivet preparation position unit 4 to the riveting cassette 2.

The robot-based transport takes place by means of a robot 6. The robot 6 is here and preferably a robot 6 with at least two axes of rotation. However, the robot 6 may also have at least three or four or more axes of rotation. Particularly preferably, the robot 6 is a Skara robot or an industrial robot,

Because a robot 6 removes the rivet elements 3 here and preferably from the rivet supply unit 4 and supplies them to the rivet cassette 2, the rivet loading station 1 can handle many different rivet elements 3 in a simple manner and supply them to different rivet cassettes 2.

The rivet elements 3 may be, for example, rivets 3a and / or rivet collars 3b and / or spacers. In particular, the rivet loading station I can have a plurality of rivet cassette receptacles 5 for accommodating rivet cassettes 2.

The rivet elements 3 are here and preferably in response to a test, in particular by a test unit 1 1, which will be described in more detail later, taken in different rivet cassettes 2. Preferably, with the rivet loading station 1, rivets of different types, in particular of different types, and / or of different nominal length and / or different nominal diameter can be fed through the rivet loading station 1 without changing the mechanical configuration of the rivet loading station 1 to a rivet cassette 2 or to different rivet cassettes 2.

Additionally or alternatively, rivet collars of different types, in particular of different types, and / or of different nominal length and / or different nominal diameter can be fed through the rivet loading station 1 without changing the mechanical configuration of the rivet loading station to a rivet cassette 2 or to different rivet cassettes 2.

It is therefore also possible to supply rivets and rivet collars through the rivet loading station 1 without changing the mechanical configuration of the rivet loading station 1 to a rivet cassette 2 or to different rivet cassettes 2.

The same applies here and preferably also for spacers. Also spacers of different types, in particular of different types, and / or different nominal length and / or different nominal diameter can be fed through the Nietbeladestation 1 without changing the mechanical configuration of the Nietbeladestation 1 a rivet cassette 2 or different rivet cassettes 2.

This is achieved by the use of the robot 6. This can grab with his gripper 7, in particular a two-finger gripper, the rivet elements 3 of different designs and safe and aligned, in particular position-defined, the rivet cassettes 2 feed. In particular, all rivet elements 3 fed to a rivet cassette can be picked up by the robot 6, aligned and fed to the rivet cassette 2. Thus, it is possible to align all rivet elements 3 in the transport path from the rivet supply unit 4 to the rivet cassette. Their orientation need not be checked prior to inclusion in the rivet cassette 2 and in the case of misalignment they must therefore not be rotated or re-supplied to the rivet preparation unit 4. Furthermore, a controller 8 may be provided for controlling the rivet loading station 1. In this case, the controller 8 may be formed centrally or decentrally, ie either have a central control unit or have a plurality of decentralized control units. The controller 8 here and preferably controls the rivet preparation unit 4 and the robot 6.

To provide the rivet elements 3, the rivet preparation unit 4 is preferably designed as a singulation unit. The rivet provision unit 4, the rivet elements 3 are fed according to a preferred embodiment of the method from an overpack. Information about the rivet elements 3, in particular information relating to the rivet elements 3 associated with the outer packaging, can be detected by the controller 8. This may be, for example, the type of rivet elements 3 and / or geometric nominal dimensions and / or charge information. In this respect, the information about the rivet elements 3 preferably includes specifications of the rivet elements 3. The detection can be performed, for example, by means of a barcode scanner and. or an RF1D reader. In addition, however, a manual input and / or selection by an operator is possible. In this way, desired information, in particular nominal dimensions of the rivet elements and, if appropriate, charge-specific tolerance ranges, can be ascertained, to which the rivet elements 3 can be tested.

Here, and preferably, the rivet provisioning unit 4 has a storage area 4a for receiving and storing rivet elements 3. Then, the rivet supply unit 4 preferably has a separating region 4b for separating the rivet elements 3 and a gripping region 4c. Here and preferably, the separating region 4b and the tapping region 4c can merge smoothly into one another. In the gripping region 4c, the lower elements 3 are arranged chaotically but occasionally.

In the exemplary embodiment, the rivet preparation unit 4, in particular by shaking movements, supplies a number of rivet elements 3 from the housing area 4a into the separation area 4b, where the rivet elements 3, in particular by shaking movements, are separated and fed to the gripping area 4c. The rivet elements 3 are here and preferably in the gripping region 4c robot-based, in particular by the

Robot 6, tapped.

Furthermore, the rivet loading station 1 here and preferably has a sensor arrangement 9, in particular with an optical sensor 10, by means of the or the. the controller 8 detects the rivet elements 3. Preferably, the sensor arrangement 9 and thus optionally the optical sensor 10 is here controlled by the controller 8.

The optical sensor 10 is preferably arranged above the rivet provisioning unit 4, in particular the gripping region 4c. The detection range of the optical sensor 9 is preferably directed to the pickup region 4c. In this case, the optical sensor 9 may preferably be arranged fixedly above the rivet provisioning unit 4, in particular the gripping region 4c, but it may also be fastened to the robot 6.

Here, an attachment independent of robot movements is preferred above the rivet provisioning unit 4. Then, the rivet elements 3 can be detected parallel to working movements of the robot 6 and their position and / or

Alignment are determined, in particular, when the robot 6 from the detection range of the optical. Sensor 10 is moved out.

In order to improve the detection of the rivet elements 3 in the gripping region 4c, at least the gripping region 4c is here and preferably illuminated from below. For this purpose, the Abgreifbereich have a, translucent floor.

By means of the optical sensor 10, the controller 8 detects in the exemplary embodiment the position and / or orientation of the rivet elements 3 in the rivet preparation unit 4, in particular in the gripping region. For gripping the rivet elements 3, the controller 8 controls the robot for receiving, in particular for gripping, a rivet element 3 based on the position and / or orientation of the rivet elements 3. By orientation is here and preferably to be understood the orientation of the longitudinal axis of the rivet element 3 and in particular its head 3c.

Here and preferably, the controller 8 detects by means of the sensor arrangement 9, in particular of the optical sensor 10, the genus, preferably the type, of a The type of a riveting element 3 differs from its type in that the genus determines the type of rivet, rivet collars, and / or spacers with respect to the Dimensions of its characteristics, in particular with regard to its nominal dimensions, but does not specify. The type of a rivet element 3 specifies not only the genus, but also the nominal dimensions of the rivet element 3, ie in particular the nominal diameter and the nominal length. Preferably, the controller 8 checks whether it is in the. Type is to be filled in a rivet cassette 2 target type. In this way, the rivet cassette 2 or the rivet cassettes 2 can only be supplied with rivet elements 3 which correspond to the desired type.

Preferably, predetermined. For the drilling process and / or the riveting process, relevant properties of the rivet elements 3, in particular the rivet elements 3 as such, are detected before being fed to the rivet cassette 2. The predetermined properties relevant for the drilling process and / or the riveting process are preferably geometric properties of the rivet elements 3 and the controller 8 measures by means of a sensor arrangement 9, in particular by means of an optical sensor 10 assigned to the sensor arrangement 9 and / or one of the sensor arrangements 9 Test unit 1 1, these properties. This allows for later production of the riveted joint a coordinated drilling and / or riveting according to the detected properties of the rivet element 3 and / or the selection of a rivet 3 to match a hole made. In particular, head overhangs of a rivet element 3 beyond a predefined tolerance range can be effectively avoided in this way.

The properties of the rivet elements 3 that are relevant for the drilling process and / or riveting process are preferably those properties on which the drilling process and / or riveting process is rivet-specific, in particular for rivet elements 3 of the same type, or those properties due to which the rivet element 3 opposes a rivet element 3 of the same type is selected for a performed hole for this.

Here and preferably, the properties relevant to the drilling process and / or the riveting process can be the rivet length and / or the shaft diameter and / or the shaft length. These sizes are here and preferably by the seahorse arrangement 9, in particular the sensor 10 directed onto the tapping area. In order to detect properties of the rivet elements 3 to be detected by means of the optical sensor 10, in particular the properties rivet length and / or shaft diameter and / or shaft length, the controller 8 carries out a transformation of the optical recording. This is necessary because, for example, the rivet heads of the rivet elements 3 here and preferably cause a slight skew in the gripping region 4c. The measurement tolerance of this measurement is preferably in the range of at least 500 ιημ, more preferably of at least 200 ιημ, more preferably of at least 100 πιμ.

Here, and preferably, the controller 8 checks the rivet elements 3 for damage by means of the sensor arrangement 9, in particular of the optical sensor 10. Here, for example, it can be detected whether the head 3c of a rivet element 3 is missing. The detection or testing of the rivet elements 3 by means of the sensor 10 directed towards the abutting region 4c preferably takes place before the riveting elements 3 are picked up by the robot 6.

Preferably, the Nietbeladestation 1 a test unit 1 1 for detecting predetermined, for the on-board process and / or the. Riveting process relevant properties of the rivet 3 on. The test unit 1 1 is here and preferably also controlled by the controller 8.

Here and preferably, the test unit 1 1 is used as a predetermined property relevant for the drilling process and / or the riveting process, a rivet head diameter DK and / or a rivet head length LR and / or an angle of a rivet head W and / or a transition radius R, and recorded. A transition radius R is here and preferably a radius between two sections of a rivet element 3, in particular between head 3c and shaft 3d of a rivet 3a. In addition, if necessary, the shaft diameter Ds can also be determined. Here and preferably, the measurement tolerance of the measurement with the test unit 1 1 is significantly lower, in particular at least 10 times lower, than the .Messtoleranz in the measurement with the directed to the rivet delivery unit 4 optical sensor 10. In addition, the measurements differ with the directed to the rivet preparation unit 4 optical sensor 10 and the test unit 1 1 Preferably, by the fact that with the directed to the rivet delivery unit 4 optical sensor 9 a plurality of rivet elements 3 are detected simultaneously and, in particular completely, while with the test unit 1 1 preferably only a section of a rivet element 3 is detected.

Here and preferably, the test unit 1 1 on an optical sensor 1 la. With the optical sensor 1 la of the test unit 1 1 predetermined, relevant for the drilling process and / or the riveting process properties are detected. Preferably, the controller 8 detects these properties by means of the optical sensor I Ia.

The visual axis A of the optical sensor 10 directed toward the rivet supply unit 4 and the visual axis B of the optical sensor of the test unit 1 la run here and. preferably not parallel to each other. Further preferably, the visual axis A of the optical sensor 9 directed towards the rivet supply unit 4 and the bi-axis B of the optical sensor 1 la of the test unit 1 3 are substantially orthogonal to one another. In this way, a test of the rivet element 3 can be made from two different sides and it can be better recognized only unilaterally pronounced error of a rivet element 3.

Additionally or alternatively, the test unit 1 1 may have illumination I Ib for measuring the predetermined properties relevant to the drilling process and / or the riveting process, which illuminates the rivet element 3 during the detection. The illumination Ib is here and preferably arranged opposite the sensor I 1a of the test unit 11. The illumination axis and the viewing axis B of the optical sensor I Ia are preferably arranged coaxially. The viewing direction of the sensor 1 1 and the illumination I Ib are aligned here.

In the exemplary embodiment, the test unit 1 1 is designed as a double-sided telecentric system. This enables accurate measurement without accurate positioning of the rivet element 3 between the illumination 1 1b and the optical sensor 1a. Here and preferably, the measuring tolerance with the preforming unit is below +/- 5 μm, preferably below +/- 3 μm, more preferably substantially at +/- 2 μm.

Furthermore, a further examination of the rivet elements 3 can be provided. This is carried out here and preferably by a further test unit 12. The further test unit 12 preferably has an optical and / or mechanical sensor. Depending on the property to be detected of the rivet elements 3, the further test unit 12 may be formed like the test unit 11. However, it can also have a different structure.

For example, the test unit 12 may be provided for testing rivet elements 3, in particular rivet collars 3b and / or spacers. The rivet elements 3 can be pushed onto them for testing and / or the rivet elements 3 can be immersed in them. Such a testing unit 12 has proven particularly suitable for testing screw collars and / or squish collars. With such a test unit 12, in particular by means of a structural recognition, closing grooves and / or closing threads can be detected and checked.

Here and preferably, a test unit 1 1, 12 performs a structure recognition for the detection and / or measurement of features on the shaft 3d of the rivet element 3. For example, the structure recognition can detect and check closing grooves 3e and / or closing threads.

Here and preferably, the robot 6 transports the rivet elements 3, in particular individually, from the rivet preparation unit 4 to a test unit 11, 12 or the test units 11, 12. Preferably, the robot 6 holds the rivet element 3 during the test or tests the test unit 1 1, 12 and the Präfeiiiheiten 1 1, 12 used. The test rings are carried out here and preferably sequentially. Also between the test units 1 1, 12, the rivet element 3 is here and preferably transported by the robot 6. Possibly. It may be necessary that the robot 6 between two test units 1 1, 12, the rivet element 3 settles and engages. This is particularly useful if the gripper 7 of the robot 6 due to the size of the rivet element 3 can only grab this so that are covered when gripping sizes to be measured. After testing in the test unit 1 1, 12 or the test units 1 1, 12, the rivet element 3 is here and preferably the rivet cassette 2 is supplied.

Particularly preferably, the method is designed in such a way that all of a rivet cassette 2 supplied rivet 3 to the predetermined, for the. Drilling process and / or the riveting process relevant properties were tested. Preferably, however, at least 50%, more preferably at least 80%, more preferably at least 95% of all rivet elements 3 supplied to a rivet cassette are tested. In this respect, here and preferably the method differs from a batchwise random testing of rivet elements 3 in a rivet manufacturer in that a significant number of rivet elements 3 from the rivet loading station 1 before being fed to the rivet cassette 2 to predetermined relevant for the drilling and / or riveting process Properties are tested. Preferably faulty rivet elements 3 are detected by the controller 8 and their faults are recorded. The faulty rivet elements 3 are preferably assigned to the outer packaging from which they were taken. 3. Additionally or alternatively, a plurality of rivet cassette receptacles 5 may be provided with rivet cassettes 2, wherein the detected or tested rivet elements 3 are fed to a rivet cassette 2 as a function of the detected properties of a rivet element 3 , Preferably, at least two of the plurality of rivet cassettes 2 are supplied with rivet elements 3 of the same type. This is particularly advantageous for sorting the rivet elements 3 as described below.

For sorting the rivet elements 3 of one type, subcategories are preferably formed and assigned to these subcategories, in particular in each case, a rivet cassette 2. Additionally or alternatively, based on the information about the rivet elements 3, in particular the specification of the rivet elements 3, subcategories are formed and assigned to these subcategories, in particular in each case, a rivet cassette 2. The rivet elements 3 can then be supplied, depending on their testing in the test unit 1 1, 12 according to their classification into a subcategory of the rivet cassette 2 assigned to this subcategory. Preferably, the subcategories are formed by tolerance ranges. In this way, a batch sub-distribution of rivet elements 3 in the rivet cassettes 2 is possible. The rivet elements 3 can therefore be sorted by the rivet loading station 1 in such a way that the rivet elements 3, in particular originating from an outer packaging, are sorted into different smaller tolerance ranges. Then, in the individual rivet cassettes 2, after sorting, only rivet elements 3 with a tolerance range width that is smaller overall than those of the rivet loading station 1 originally have rivet elements 3 supplied from an outer packaging.

In this context, it has especially been granted if information about the rivet elements 3 supplied to a rivet cassette or rivet elements 3 to be supplied to a rivet cassette 2 are linked. The information, in particular the specification and / or the subcategory, is preferably linked to the rivet cassette 2. This may in particular be a. Tolerance range act. Additionally or alternatively, however, properties, in particular dimensions, of each individual rivet element and possibly the sequence of the rivet elements 3 in the rivet cassette 2 can be linked to the rivet cassette 2. The linking can be done, for example, by writing this information on an RFID chip of the rivet cassette 2. As a result, a precise coordination of the drilling and the riveting process is made possible on the riveting elements 3 provided for riveting.

On the basis of this information, a rivet element 3 for setting in the bore can later be selected from various rivet elements 3 of a type after measuring a bore by a production device 14 requesting a corresponding rivet element 3. Additionally or alternatively, the bore to be created with the production device 14 can be determined or adapted on the basis of a rivet element 3 to be set, in particular due to its classification in a subcategory, for example the sink depth to be drilled depending on the dimensions of the rivet head , For this purpose, the linked information is preferably queried by the production device 14. Here and preferably, the Nietkassettenaumahme 5 and / or the riveting cassette 2 on a shelf 5a, in which the rivet elements 2 are stored by the robot 6. Possibly. The rivet cassette 2 can also take over the rivet elements 3 directly from the robot 6.

In the rivet cassette 2, the rivet elements 3 here and preferably by means of a pressure difference, ie in particular promoted by means of a negative pressure and / or by means of compressed air into the rivet cassette 2. In this case, the rivet 3 with the shaft 3d or the head first promoted in the rivet cassette 2 become.

Here, the rivet elements 3 are aligned, in particular position-defined, received by the rivet cassette 2. This can be done for example by a particular wound hose in the rivet cassette 2, in which! taken the rivet 3 and from which the rivet elements 3 are guided. It has proven particularly useful if the supply or removal of the rivet elements 3 into the rivet cassette 2 or out of the rivet cassette 2 takes place according to the principle of first in - first out and / or according to the principle of first in - last out. The order of the rivet elements 3 in the rivet cassette 2 can preferably not be changed within the rivet cassette.

As is apparent from the above description and FIG. 1, the Nietbereitstellungseinheit 4, possibly the Priifeinheiten 1 1, 12 and the Nietkassettenaufnahme 5 are chained together with a possibly rivet cassette 2 therein, so in particular spatially arranged together. The rivet elements 3 are preferably fed by a, in particular fixedly mounted, robot 6 of the rivet preparation unit 4, if necessary via the test units 1 1, 12 of the rivet cassette 2. If necessary, however, several robots 6 can also be provided for the transport.

Faulty rivet elements 3 are preferably fed to a reject container 13a. This can for example be robot-based, in particular by means of the robot 6, or, if the faulty rivet elements 3 take place in the gripping region 4c, good rivet elements 3 can be supplied by the robot 6 to the rivet cassettes 2 and, in particular, if only defective rivet elements 3 remain in the gripping region which remain in the reference area 4c. Nietenelemente 3 of the Nietbereitstellungseinheit 4, for example by means of shaking, a reject container 13 b are supplied.

2, the proposed production device 14 for producing a structural component 15 is shown schematically. After a rivet cassette 2 has been filled with the method described above, this rivet cassette 2 can be used in a Niets memory unit 16. To the. Drilling and riveting, the manufacturing device 14 has a drill-riveting tool 17.

On the basis of the information associated with the rivet cassette 2, the production device 14 can adapt the drilling process and / or the riveting process to the rivet element 3 to be added. Additionally or alternatively, a suitable rivet element 3 can be requested from the rivet storage unit 16 for an already drilled and possibly measured hole.

Thus, on the basis of the predetermined properties of the rivet elements 3 that are relevant for the drilling process and / or the riveting process, the bore and / or the riveting are detected on the basis of the rivet elements 3 detected prior to the feeding of the rivet elements 3, and / or Based on the properties of the rivet elements 3 relevant to the riveting process and / or the riveting process detected prior to the feeding of the rivet elements 3, a suitable rivet element 3 from the rivet storage unit 16 is requested for a bore 15a and a riveted joint is produced.

Of particular importance in particular is the measurement of the heads 3c of the rivet elements 3 and the adaptation of the bore 15a, in particular the countersink 15b to the head 3c of the rivet element 3 or the selection of a rivet element 3 with a matching head 3c for a bore 15a, in particular the countersink 15b of a bore 15a. According to a particularly preferred embodiment of the method, the Nietbeladestation 1 detects, for example, as a predetermined, relevant for the drilling process and / or riveting process properties of the rivet 3, the Nietkopfdurchmesser and / or Nietkopflänge before feeding to Nietkassette and that the manufacturing device based on the Nietkopfdurchmessers and / or the rivet head length determines the bore and makes, in particular determines the sinking depth for the bore and makes. Finally, FIG. 3 shows, by way of example, a rivet head with a countersunk head for the rivet elements 3 in a), a pass rivet with a countersunk head and a rivet collar 3b corresponding to the rivet rivet. In addition, many other rivet elements with the Nietbeiadestation can be supplied in the same manner rivet cassettes. This can be in particular screw rivets and or blind rivets.

For the riveting elements 3 shown in FIG. 3, possible relevant properties are shown by way of example for the drilling process and / or the riveting process, with a selection of these depending on the requirements of the riveting joint to be produced. The relevant properties are here and preferably the Nietläng LN and / or the shaft length L _s and / or the head length LK and / or the head diameter DK and / or the shaft diameter Ds dimensioned. Furthermore, the countersunk angle W and the transition radius R are shown as possible properties relevant for the drilling process and / or the riveting process. In addition, a rivet structure, namely the closing grooves 3e of the fitting in FIG. 3b) is shown.

For the rivet collar 3b, the rivet collar length Lc and the riveting collar diameter Da and the rivet collar outer diameter D _{CA are} shown here as properties relevant to the riveting process.

Claims

claims

1. A method for filling a rivet cassette (2) with rivet elements (3) by means of a Nietbeladestation (1) with a Nietbereitstellungseinheit (4) for providing the rivet elements (3) and with a Nietkassettenaufnahme (5) for receiving a rivet cassette (2),

wherein the rivet elements (3) are fed from the rivet supply unit (4) to a rivet cassette (2) accommodated in the rivet cassette receptacle (5) and received therein aligned,

characterized,

at least part of the transport from the rivet delivery unit (4) to the

Rivet cassette (2) is robot-based.

2. The method according to claim 1, characterized in that rivets of different types, in particular of different types, and / or different nominal length and / or different nominal diameter through the Nietbeladestation (1) without changing the mechanical configuration of Nietbeladestation (1) a rivet cassette (2) or different rivet cassettes (2) are supplied.

3. The method according to any one of the preceding Ansprächen, characterized in that Nietkollare different genus, in particular of different types, and / or different nominal length and / or different. Nominal diameter through the Nietbeladestation (1) without changing the mechanical configuration of Nietbeladestation (1) a rivet cassette (2) or various rivet cassettes (2) are supplied.

4. The method according to any one of the preceding claims, characterized in that rivets and Nietkollare by the Nietbeladestation (1) without changing the mechanical configuration of Nietbeladestation (1) a rivet cassette (2) or various rivet cassettes (2) are supplied.

5. The method according to any one of the preceding claims, characterized in that the rivet elements (3) in the rivet preparation unit (4) isolated and preferably fed to a Abgreifbereich, preferably that the rivet elements are tapped robotically based in the tapping.

6. The method according to any one of the preceding claims, characterized in that the Nietbeladestation a controller (8) for controlling the Nietbeladestation (1), preferably, that the controller (8) by means of a sensor RORA (9), in particular an optical sensor (10) the rivet elements (3) detected, preferably, that the controller (8) by means of the optical sensor (10) the position and / or orientation of the rivet elements (3) in the rivet provision unit (4), in particular in the tapping range (4c), detected, more preferably, that the controller (8) based on the position and / or orientation of the rivet elements (3) the robot (6) for receiving a rivet element (3) drives.

7. The method according to any one of the preceding claims, characterized in that the controller (8) by means of the sensor arrangement (9), in particular by means of the optical sensor (10) the type of one of the Nietbereitstellungseinheit (4) provided, in particular in the Abgreifbereich (4c) lying rivet element (3) preferably detects that the controller (8) controls whether it is the detected type to be filled in a rivet cassette (2) target type,

8, Method according to one of the preceding claims, characterized in that predetermined, relevant for the drilling process and / or the riveting process properties of Nieteiemente (3) before being fed to the riveting cassette

(2) are recorded

9. The method according to any one of the preceding claims, characterized in that the controller (8) by means of the sensor arrangement (9), in particular by means of the optical sensor (10), the rivet elements (3) checks for damage,

10. The method according to any one of the preceding claims, characterized in that a relevant for the drilling process and / or the riveting process properties is the rivet length and / or the shaft diameter and / or the shaft length.

1 1. Method according to one of the preceding claims, characterized in that the visual axis A of the rivet delivery unit (4) is aligned. teten optical sensor (10) and the visual axis B of the optical sensor (II a) of the test unit (1 1) are not parallel to each other, preferably, that the visual axis A of the rivet providing unit (4) directed optical sensor (10) and the viewing axis B of the optical sensor (1 1 a) of the test unit (1 1) are substantially perpendicular to each other,

12. The method according to any one of the preceding claims, characterized in that the Nietkassettenaufnahme (5) and 'or rivet cassette (2) has a shelf, in which the rivet elements (3) are stored.

13. The method according to one of the preceding claims, characterized in that the rivet elements (3) by means of a pressure difference in the rivet cassette (2) are conveyed, in particular by means of a negative pressure or by means of compressed air.

14. Method for producing a structural component (1 5), in particular an aircraft structural component,

characterized,

in that a rivet cassette (2) according to one of the preceding claims is filled and that the rivet cassette (2) is subsequently inserted into a rivet storage unit (16) of a rivet cassette (2)

Manufacturing device (14) is used for producing a structural component (15) and the manufacturing device (14) drills a hole in a structural component (15) to produce a riveted joint and inserts and rivets a rivet element (3) from the rivet cassette (2) ,

15. rivet loading station for carrying out a method according to any one of the preceding claims.